US8364348B2 - Method and device for determining a steering angle offset - Google Patents

Method and device for determining a steering angle offset Download PDF

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Publication number
US8364348B2
US8364348B2 US12/522,431 US52243107A US8364348B2 US 8364348 B2 US8364348 B2 US 8364348B2 US 52243107 A US52243107 A US 52243107A US 8364348 B2 US8364348 B2 US 8364348B2
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Prior art keywords
steering angle
frequency distribution
steering
average value
determining
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US20100138110A1 (en
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Andreas Zell
Jörg Grotendorst
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Continental Teves AG and Co OHG
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Continental Teves AG and Co OHG
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Assigned to CONTINENTAL TEVES AG & CO. OHG reassignment CONTINENTAL TEVES AG & CO. OHG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: GROTENDORST, JORG, ZELL, ANDREAS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position

Definitions

  • the invention relates to a method and a device for determining a steering angle offset.
  • the steering angle sensors used in a vehicle are subject to a certain tolerance when being installed in the vehicle, i.e., their zero position is not exactly adjusted. At high driving speeds, however, even a small deviation of the steering angle sensor can lead to great deviations of the calculated results if the steering angle measured is used, e.g. in vehicle dynamics algorithms within an electronic stability program or in a chassis control system; therefore the error in respect of the zero position has to be determined and taken into account in the calculation.
  • This simple method has the drawback, in particular, that the above-assumption is not true in many cases, e.g. if a vehicle is moved regularly between a person's home and workplace and is always turned around in the same direction at the end points while the route chosen for the outward journey and the journey back is always the same, which results in an average steering angle value of 360° in total.
  • An object of the invention is to provide a method of determining a steering angle offset which allows easy, rapid and reliable determination of the steering angle offset in a vehicle.
  • this object is achieved by a method for determining a steering angle offset in a vehicle having a control unit and a steering angle sensor, the data used to calculate the steering angle offset are pre-selected by first determining a first frequency distribution of the steering angle over a number of steering angle values measured. This is done depending on at least one dynamic vehicle parameter. In this way, driving situations are excluded in which, with high probability, the driver does not drive in a straight line, on average. In the next step, the average value of the steering angle is determined from the first frequency distribution.
  • the overall number of the steering angle values measures in the second frequency distribution is, in particular, the sum of the number of steering angle values of the first frequency distribution carried over. If there is no symmetry of the first frequency distribution around the average value calculated within the p redefined tolerance limit, all measured values of the first frequency distribution are discarded, and a new first frequency distribution is determined.
  • the steering angle offset is determined from the average value of the second frequency distribution.
  • the second frequency distribution must be rescaled, either regularly or when the number range available is at risk to be exceeded, in order that measured values from the first frequency distribution can continue to be carried over into the second frequency distribution. This is done by multiplying the whole second frequency distribution with a factor that is preferably between zero and one.
  • the determination of the first frequency distribution wherein the at least one dynamic vehicle parameter is the lateral acceleration (Q), the yaw rate (G) or vehicle speed (V) limits the driving situations from which a steering angle is included into the first frequency distribution to those driving situations corresponding to approximate straight-line driving during the whole time of measured value acquisition for the first frequency distribution.
  • the determination of the first frequency distribution wherein the steering angles (LW) measured are classified into steering angle classes (i) having a width (a i ) and a corresponding frequency (y i ) results in a simple display of the distribution, which requires only few calculations, in particular.
  • the check for symmetry of the first frequency distribution as described hereinafter is a further pre-selection of driving situations corresponding to approximate straight-line driving during the whole time of measured value acquisition for the first frequency distribution.
  • the exactness of the method can be varied by predefining the tolerance value by multiplying a factor r with the arithmetic average of y 1+k and y 1 ⁇ k , and that the factor r is between 0.3 and 0.6.
  • a method according to some aspects of the invention allows continuous improvement when determining the steering angle offset, in particular.
  • a method according to some aspects of the invention prevents failure of the method when the number range available is exceeded, in particular.
  • FIG. 1 shows a flow diagram for determining a steering angle offset
  • FIG. 2 shows a discrete first frequency distribution of steering angles.
  • the flow diagram shown in FIG. 1 shows a method for determining a steering angle offset LWO in a vehicle, wherein the measures taken in steps S 10 , S 20 and S 30 exclude driving situations in which, with high probability, the driver does not drive in a straight line, on average.
  • the steering angle LW is determined, and in step S 10 it is checked whether the lateral acceleration is below a predefined value SQ. If this is not the case, it is deduced that the vehicle does not drive in a straight line, and the measured value of the steering angle LW is discarded in step S 100 .
  • step S 20 it is checked in the next step S 20 whether the yaw rate is below a predefined value SG.
  • the yaw rate or yaw velocity in a vehicle is the angular speed during rotary motion of the vehicle around its vertical axis. If G is above SG, it is deduced that the vehicle, with high probability, does not drive in a straight line, and the measured value of the steering angle is discarded in step S 90 .
  • step S 20 If the condition of step S 20 is fulfilled, it is checked in the next step S 30 whether the vehicle speed V is in a predefined speed range of between SV 1 and SV 2 .
  • the condition for detecting the steering angle LW can, for example, be limited to driving situations outside of built-up areas.
  • a first frequency distribution HV 1 for the steering angle LW is produced from these 1,000 measured values in step S 40 .
  • a simple kind of distribution is a discrete distribution.
  • the steering angles LW are classified into steering angle classes i having the width a i and the corresponding frequency y i when producing the first frequency distribution HV 1 .
  • the width a i is in the range of between 0.5 and 2.0 angular degrees, in particular.
  • a width of 1.4 angular degrees has found to be particularly advantageous.
  • the overall width measured in angular degrees of the first frequency distribution HV 1 is approximately +5 angular degrees; a range of +10 angular degrees would also be conceivable.
  • step S 50 the average value MW 1 is calculated from the steering angles LW of the first frequency distribution HV 1 . Subsequently it is checked in step S 60 whether the first frequency distribution HV 1 is arranged symmetrically around the average value MW 1 except for the predefined tolerance. If this is not the case, the frequency distribution HV 1 is discarded in step S 110 .
  • the frequency distribution HV 1 is carried over into a second frequency distribution HV 2 in step S 70 .
  • the number of steering angles LW included in the second frequency distribution HV 2 is then equal to or higher than the number of steering angles LW from the first frequency distribution HV 1 .
  • the number of steering angles LW in the second frequency distribution HV 2 will be an integral multiple of the first frequency distribution HV 1 or, in general, the sum of the number of steering angles LW from all first frequency distribution HV 1 carried over.
  • the threshold S can be a predefined number, in general a multiple of the steering angles LW included in the first frequency distribution HV 1 .
  • the threshold can, however, also be predefined by limiting a memory into which the steering angles LW of the second frequency distribution HV 2 are read.
  • the method including steps S 10 trough S 110 can be carried out continuously.
  • the steering angle offset LWO is determined in step S 90 using the steering angle offset LWO from the previous run as steering angle zero LWN.
  • 0 angular degrees is predefined as steering angle zero LWN, as described above.
  • the following table 1 illustrates the continuous calculation of the steering angle offset LWO for the fist three runs using the weighting factor GLWN for the steering angle zero LWN and the weighting factor (1 ⁇ GLWN ) for the average value MW 2 .
  • the angles are given in angular degrees.
  • the weighting factor GLWN for the steering angle zero LWN is 0.8 in this case; the weighting factor (1 ⁇ GLWN ) for the average value MW 2 is therefore 0.2.
  • LWO [( LWN* GLWN )+( MW 2*(1 ⁇ GLWN )]
  • FIG. 2 shows how the check for symmetry of the first frequency distribution HV 1 carried out in step S 60 is done.
  • ⁇ tol is fulfilled for all n steering angle class pairs.
  • tol is a predefined tolerance value which is determined by multiplying a factor r with the arithmetic average of y i+k and y i ⁇ k .
  • the factor r is preferably between 0.3 and 0.6.
  • the average was determined arithmetically in each case.
  • the invention is not intended to be limited in this respect; it can be carried out very advantageously using root means squares or the like.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Guiding Agricultural Machines (AREA)
US12/522,431 2007-01-18 2007-12-20 Method and device for determining a steering angle offset Expired - Fee Related US8364348B2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102007002708 2007-01-18
DE102007002708A DE102007002708A1 (de) 2007-01-18 2007-01-18 Verfahren und Vorrichtung zur Ermittlung eines Lenkwinkeloffsets
DE102007002708.9 2007-01-18
PCT/DE2007/002298 WO2008086767A1 (de) 2007-01-18 2007-12-20 Verfahren und vorrichtung zur ermittlung eines lenkwinkeloffsets

Publications (2)

Publication Number Publication Date
US20100138110A1 US20100138110A1 (en) 2010-06-03
US8364348B2 true US8364348B2 (en) 2013-01-29

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US12/522,431 Expired - Fee Related US8364348B2 (en) 2007-01-18 2007-12-20 Method and device for determining a steering angle offset

Country Status (5)

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US (1) US8364348B2 (de)
EP (1) EP2121417B1 (de)
AT (1) ATE469809T1 (de)
DE (3) DE102007002708A1 (de)
WO (1) WO2008086767A1 (de)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120041658A1 (en) * 2010-08-16 2012-02-16 Steven Paul Turner System and method for determining a steering angle for a vehicle and system and method for controlling a vehicle based on same
US20120041644A1 (en) * 2010-08-16 2012-02-16 Steven Paul Turner System and method for determining a steering angle for a vehicle and system and method for controlling a vehicle based on same
DE102018004057A1 (de) 2017-06-07 2018-12-13 Scania Cv Ab Verfahren und System zum Bestimmen des Versatzes eines Lenkradwinkelsensors
US11661101B2 (en) 2020-08-17 2023-05-30 Honda Motor Co., Ltd. Setting vehicle center in electronic power steering system
US11685431B2 (en) 2018-12-31 2023-06-27 Motional Ad Llc Steering angle calibration

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8583312B2 (en) * 2011-08-22 2013-11-12 Agco Corporation Guidance system automatic wheel angle sensor calibration
WO2014045859A1 (ja) * 2012-09-18 2014-03-27 株式会社村田製作所 手押し車
DE102020110847A1 (de) 2020-04-21 2021-10-21 Thyssenkrupp Ag Verfahren zur Bestimmung von Hysterese und Offset einer Lenksäulendrehmomentbestimmung

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5311432A (en) 1991-12-10 1994-05-10 Mitsubishi Jidosha Kogyo Kabushiki Kaisha Method and system for estimating the neutral point of a steering wheel
DE4419364A1 (de) 1994-06-03 1995-12-07 Bosch Gmbh Robert Verfahren zur Echtzeitermittlung des Offsetanteils eines Meßsignals
US5948030A (en) * 1997-07-25 1999-09-07 General Motors Corporation Steering angle determaination method and apparatus
DE10205971A1 (de) 2001-05-16 2002-11-21 Bosch Gmbh Robert Verfahren und Vorrichtung für die Bestimmung von Offsetwerten durch ein Histogrammverfahren
US20030212476A1 (en) 2002-02-15 2003-11-13 Aanen Arie G. Vehicle steering angle position determination method
US20040024565A1 (en) 2002-08-05 2004-02-05 Jingsheng Yu Vehicle operating parameter determination system and method
US20040061500A1 (en) 2002-09-30 2004-04-01 Continental Teves, Inc. Offset calibration of a semi-relative steering wheel angle sensor
US20040117088A1 (en) 2002-12-11 2004-06-17 Continental Teves, Inc. Steering wheel angle determination
US6810311B2 (en) 2001-05-16 2004-10-26 Robert Bosch Gmbh Method and device for determining offset values by a histogram method
US20100010701A1 (en) * 2006-04-06 2010-01-14 Continental Teves Ag & Co., Ohg Method for determining unstable driving states

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040007088A1 (en) * 2002-07-12 2004-01-15 Swenson David C. Connecting rod assembly

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5311432A (en) 1991-12-10 1994-05-10 Mitsubishi Jidosha Kogyo Kabushiki Kaisha Method and system for estimating the neutral point of a steering wheel
DE69217540T2 (de) 1991-12-10 1997-09-04 Mitsubishi Motors Corp Verfahren und Einrichtung zum Abschätzen des neutralen Punkts eines Lenkrads
DE4419364A1 (de) 1994-06-03 1995-12-07 Bosch Gmbh Robert Verfahren zur Echtzeitermittlung des Offsetanteils eines Meßsignals
US5948030A (en) * 1997-07-25 1999-09-07 General Motors Corporation Steering angle determaination method and apparatus
DE10205971A1 (de) 2001-05-16 2002-11-21 Bosch Gmbh Robert Verfahren und Vorrichtung für die Bestimmung von Offsetwerten durch ein Histogrammverfahren
US6810311B2 (en) 2001-05-16 2004-10-26 Robert Bosch Gmbh Method and device for determining offset values by a histogram method
US20030212476A1 (en) 2002-02-15 2003-11-13 Aanen Arie G. Vehicle steering angle position determination method
US20040024565A1 (en) 2002-08-05 2004-02-05 Jingsheng Yu Vehicle operating parameter determination system and method
US20040061500A1 (en) 2002-09-30 2004-04-01 Continental Teves, Inc. Offset calibration of a semi-relative steering wheel angle sensor
US20040117088A1 (en) 2002-12-11 2004-06-17 Continental Teves, Inc. Steering wheel angle determination
US20100010701A1 (en) * 2006-04-06 2010-01-14 Continental Teves Ag & Co., Ohg Method for determining unstable driving states

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120041658A1 (en) * 2010-08-16 2012-02-16 Steven Paul Turner System and method for determining a steering angle for a vehicle and system and method for controlling a vehicle based on same
US20120041644A1 (en) * 2010-08-16 2012-02-16 Steven Paul Turner System and method for determining a steering angle for a vehicle and system and method for controlling a vehicle based on same
US8825295B2 (en) * 2010-08-16 2014-09-02 Honda Motor Co., Ltd. System and method for determining a steering angle for a vehicle and system and method for controlling a vehicle based on same
US9205869B2 (en) * 2010-08-16 2015-12-08 Honda Motor Co., Ltd. System and method for determining a steering angle for a vehicle and system and method for controlling a vehicle based on same
DE102018004057A1 (de) 2017-06-07 2018-12-13 Scania Cv Ab Verfahren und System zum Bestimmen des Versatzes eines Lenkradwinkelsensors
US11685431B2 (en) 2018-12-31 2023-06-27 Motional Ad Llc Steering angle calibration
US11661101B2 (en) 2020-08-17 2023-05-30 Honda Motor Co., Ltd. Setting vehicle center in electronic power steering system

Also Published As

Publication number Publication date
ATE469809T1 (de) 2010-06-15
DE102007002708A1 (de) 2008-07-24
EP2121417A1 (de) 2009-11-25
DE112007002972A5 (de) 2009-09-10
WO2008086767A1 (de) 2008-07-24
EP2121417B1 (de) 2010-06-02
US20100138110A1 (en) 2010-06-03
DE502007004043D1 (de) 2010-07-15

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